/*
 * @Author: junhuizhou
 * @Date: 2020-12-30 10:59:43
 * @LastEditor: junhuizhou
 * @LastEditTime: 2021-01-11 17:37:29
 * @Description: header
 * @FilePath: \fzhtq\include\constant.h
 */

#ifndef CONSTANT_H_
#define CONSTANT_H_

#ifndef bool
#define bool int
#define false 0
#define true 1
#endif

/*数学常量*/
#define PI   3.141592653589793
#define PI2  6.283185307179586
#define DEG2RAD  0.0174532925199433
#define RAD2DEG  57.2957795130823

/*仿真时间常量*/
#define Ratio_Ctl2Sim 20
#define EnvSim_T_Time 0.1   /*s*/
#define Total_Time 400

/*动量轮参数*/
#define MomWheel_Tq_Max 1.8
#define MomWheel_Inertia 1.666667E-4
#define MomWheel_Spd_Up 5500
#define MomWheel_Spd_Max 6000
#define MomWheel_Spd0 0     /*3000*/
#define MW4_SpdDsrd0 5196

/*推力器参数*/
#define PS_Time_Min 10  /*ms*/
#define PS_F_Max 10.0   /*N*/

/*姿态任务参数*/
#define RateDampThresMin 2  /*deg/s*/

/*干扰力矩幅值 N*m */
#define Td_Max 1E-3

/*PID参数*/
#define PID_P_Quat 3.0
#define PID_D_Quat 12.0
#define PS_Kp1 30
#define PS_Kp2 53
#define PS_Kp3 60

#endif
